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&#160;<span id="projectnumber">v1.3.0</span>
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<p>Servo over EtherCAT (SoE) Module.
<a href="#details">More...</a></p>
<div class="textblock"><code>#include &lt;stdio.h&gt;</code><br/>
<code>#include &lt;string.h&gt;</code><br/>
<code>#include &quot;osal.h&quot;</code><br/>
<code>#include &quot;oshw.h&quot;</code><br/>
<code>#include &quot;<a class="el" href="ethercattype_8h.html">ethercattype.h</a>&quot;</code><br/>
<code>#include &quot;<a class="el" href="ethercatbase_8h.html">ethercatbase.h</a>&quot;</code><br/>
<code>#include &quot;<a class="el" href="ethercatmain_8h.html">ethercatmain.h</a>&quot;</code><br/>
<code>#include &quot;<a class="el" href="ethercatsoe_8h.html">ethercatsoe.h</a>&quot;</code><br/>
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Data Structures</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structec__SoEt.html">ec_SoEt</a></td></tr>
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Functions</h2></td></tr>
<tr class="memitem:a061df11eda95634e5524ccd9d2d312ea"><td class="memItemLeft" align="right" valign="top">PACKED_END void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ethercatsoe_8c.html#a061df11eda95634e5524ccd9d2d312ea">ecx_SoEerror</a> (<a class="el" href="structecx__contextt.html">ecx_contextt</a> *context, uint16 Slave, uint16 idn, uint16 Error)</td></tr>
<tr class="separator:a061df11eda95634e5524ccd9d2d312ea"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adb2dd61447da5f449a083931aa2fe467"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ethercatsoe_8c.html#adb2dd61447da5f449a083931aa2fe467">ecx_SoEread</a> (<a class="el" href="structecx__contextt.html">ecx_contextt</a> *context, uint16 <a class="el" href="eepromtool_8c.html#a7f46665d1fe6d01a75a90942bb34cfaf">slave</a>, uint8 driveNo, uint8 elementflags, uint16 idn, int *psize, void *p, int timeout)</td></tr>
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<tr class="memitem:a4d2d52ed026adbfc0896953edb59ac70"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ethercatsoe_8c.html#a4d2d52ed026adbfc0896953edb59ac70">ecx_SoEwrite</a> (<a class="el" href="structecx__contextt.html">ecx_contextt</a> *context, uint16 <a class="el" href="eepromtool_8c.html#a7f46665d1fe6d01a75a90942bb34cfaf">slave</a>, uint8 driveNo, uint8 elementflags, uint16 idn, int psize, void *p, int timeout)</td></tr>
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<tr class="memitem:a99875a86cc956e9de8a5753a3107be5b"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ethercatsoe_8c.html#a99875a86cc956e9de8a5753a3107be5b">ecx_readIDNmap</a> (<a class="el" href="structecx__contextt.html">ecx_contextt</a> *context, uint16 <a class="el" href="eepromtool_8c.html#a7f46665d1fe6d01a75a90942bb34cfaf">slave</a>, int *Osize, int *Isize)</td></tr>
<tr class="separator:a99875a86cc956e9de8a5753a3107be5b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af8db8dac3118e949c495d4e50caccfac"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ethercatsoe_8c.html#af8db8dac3118e949c495d4e50caccfac">ec_SoEread</a> (uint16 <a class="el" href="eepromtool_8c.html#a7f46665d1fe6d01a75a90942bb34cfaf">slave</a>, uint8 driveNo, uint8 elementflags, uint16 idn, int *psize, void *p, int timeout)</td></tr>
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<tr class="memitem:ae7ea660f01cb95ab4f37479bbc2f017e"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ethercatsoe_8c.html#ae7ea660f01cb95ab4f37479bbc2f017e">ec_SoEwrite</a> (uint16 <a class="el" href="eepromtool_8c.html#a7f46665d1fe6d01a75a90942bb34cfaf">slave</a>, uint8 driveNo, uint8 elementflags, uint16 idn, int psize, void *p, int timeout)</td></tr>
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<tr class="memitem:acb454e12b2034f0121a534de57b0e869"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="ethercatsoe_8c.html#acb454e12b2034f0121a534de57b0e869">ec_readIDNmap</a> (uint16 <a class="el" href="eepromtool_8c.html#a7f46665d1fe6d01a75a90942bb34cfaf">slave</a>, int *Osize, int *Isize)</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Servo over EtherCAT (SoE) Module. </p>
</div><h2 class="groupheader">Function Documentation</h2>
<a class="anchor" id="acb454e12b2034f0121a534de57b0e869"></a>
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<td class="memname">int ec_readIDNmap </td>
<td>(</td>
<td class="paramtype">uint16&#160;</td>
<td class="paramname"><em>slave</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int *&#160;</td>
<td class="paramname"><em>Osize</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int *&#160;</td>
<td class="paramname"><em>Isize</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
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<td class="memname">int ec_SoEread </td>
<td>(</td>
<td class="paramtype">uint16&#160;</td>
<td class="paramname"><em>slave</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint8&#160;</td>
<td class="paramname"><em>driveNo</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint8&#160;</td>
<td class="paramname"><em>elementflags</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint16&#160;</td>
<td class="paramname"><em>idn</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int *&#160;</td>
<td class="paramname"><em>psize</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">void *&#160;</td>
<td class="paramname"><em>p</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int&#160;</td>
<td class="paramname"><em>timeout</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div><div class="memdoc">
</div>
</div>
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<td class="memname">int ec_SoEwrite </td>
<td>(</td>
<td class="paramtype">uint16&#160;</td>
<td class="paramname"><em>slave</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint8&#160;</td>
<td class="paramname"><em>driveNo</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint8&#160;</td>
<td class="paramname"><em>elementflags</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint16&#160;</td>
<td class="paramname"><em>idn</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int&#160;</td>
<td class="paramname"><em>psize</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">void *&#160;</td>
<td class="paramname"><em>p</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int&#160;</td>
<td class="paramname"><em>timeout</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div><div class="memdoc">
</div>
</div>
<a class="anchor" id="a99875a86cc956e9de8a5753a3107be5b"></a>
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<td class="memname">int ecx_readIDNmap </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structecx__contextt.html">ecx_contextt</a> *&#160;</td>
<td class="paramname"><em>context</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint16&#160;</td>
<td class="paramname"><em>slave</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int *&#160;</td>
<td class="paramname"><em>Osize</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int *&#160;</td>
<td class="paramname"><em>Isize</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div><div class="memdoc">
<p>SoE read AT and MTD mapping.</p>
<p>SoE has standard indexes defined for mapping. This function tries to read them and collect a full input and output mapping size of designated slave.</p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">context</td><td>= context struct </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">slave</td><td>= Slave number </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">Osize</td><td>= Size in bits of output mapping (MTD) found </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">Isize</td><td>= Size in bits of input mapping (AT) found </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>&gt;0 if mapping succesful. </dd></dl>
</div>
</div>
<a class="anchor" id="a061df11eda95634e5524ccd9d2d312ea"></a>
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<td class="memname">PACKED_END void ecx_SoEerror </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structecx__contextt.html">ecx_contextt</a> *&#160;</td>
<td class="paramname"><em>context</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint16&#160;</td>
<td class="paramname"><em>Slave</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint16&#160;</td>
<td class="paramname"><em>idn</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint16&#160;</td>
<td class="paramname"><em>Error</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div><div class="memdoc">
<p>Report SoE error.</p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">context</td><td>= context struct </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">Slave</td><td>= Slave number </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">idn</td><td>= IDN that generated error </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">Error</td><td>= Error code, see EtherCAT documentation for list </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<a class="anchor" id="adb2dd61447da5f449a083931aa2fe467"></a>
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<td class="memname">int ecx_SoEread </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structecx__contextt.html">ecx_contextt</a> *&#160;</td>
<td class="paramname"><em>context</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint16&#160;</td>
<td class="paramname"><em>slave</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint8&#160;</td>
<td class="paramname"><em>driveNo</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint8&#160;</td>
<td class="paramname"><em>elementflags</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint16&#160;</td>
<td class="paramname"><em>idn</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int *&#160;</td>
<td class="paramname"><em>psize</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">void *&#160;</td>
<td class="paramname"><em>p</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int&#160;</td>
<td class="paramname"><em>timeout</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div><div class="memdoc">
<p>SoE read, blocking.</p>
<p>The IDN object of the selected slave and DriveNo is read. If a response is larger than the mailbox size then the response is segmented. The function will combine all segments and copy them to the parameter buffer.</p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">context</td><td>= context struct </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">slave</td><td>= Slave number </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">driveNo</td><td>= Drive number in slave </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">elementflags</td><td>= Flags to select what properties of IDN are to be transfered. </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">idn</td><td>= IDN. </td></tr>
<tr><td class="paramdir">[in,out]</td><td class="paramname">psize</td><td>= Size in bytes of parameter buffer, returns bytes read from SoE. </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">p</td><td>= Pointer to parameter buffer </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">timeout</td><td>= Timeout in us, standard is EC_TIMEOUTRXM </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Workcounter from last slave response </dd></dl>
</div>
</div>
<a class="anchor" id="a4d2d52ed026adbfc0896953edb59ac70"></a>
<div class="memitem">
<div class="memproto">
<table class="memname">
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<td class="memname">int ecx_SoEwrite </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structecx__contextt.html">ecx_contextt</a> *&#160;</td>
<td class="paramname"><em>context</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint16&#160;</td>
<td class="paramname"><em>slave</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint8&#160;</td>
<td class="paramname"><em>driveNo</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint8&#160;</td>
<td class="paramname"><em>elementflags</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint16&#160;</td>
<td class="paramname"><em>idn</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int&#160;</td>
<td class="paramname"><em>psize</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">void *&#160;</td>
<td class="paramname"><em>p</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int&#160;</td>
<td class="paramname"><em>timeout</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div><div class="memdoc">
<p>SoE write, blocking.</p>
<p>The IDN object of the selected slave and DriveNo is written. If a response is larger than the mailbox size then the response is segmented.</p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">context</td><td>= context struct </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">slave</td><td>= Slave number </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">driveNo</td><td>= Drive number in slave </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">elementflags</td><td>= Flags to select what properties of IDN are to be transfered. </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">idn</td><td>= IDN. </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">psize</td><td>= Size in bytes of parameter buffer. </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">p</td><td>= Pointer to parameter buffer </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">timeout</td><td>= Timeout in us, standard is EC_TIMEOUTRXM </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Workcounter from last slave response </dd></dl>
</div>
</div>
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